ANALYSIS OF INDUCTION MOTOR DRIVE
WITH DIRECT TORQUE CONTROL SCHEME
USING SPACE VECTOR MODULATION
BY
V.VINOD KUMAR
213EE4324
POWER ELECTRONICS &
DRIVES
DEC -2014
OVERVIEW
Evolution of drive control techniques
Literature review
Objective
Principle of Direct Torque Control (DTC) scheme
Block diagram of DTC
Simultaneous and decoupled control of torque and flux
Simulation results of uncontrolled induction motor
VINOD KUMAR VUDATHA , NIT ROURKELA
EVOLUTION OF DRIVE CONTROL
TECHNIQUES
VINOD KUMAR VUDATHA , NIT ROURKELA
COMPARISON OF CONTROL TYPES
Control Type Torque Flux Response Advantages Disadvantages
control Control
DC Drive Direct Direct High High Accuracy Motor maintenance
Good torque response High motor cost
Simple Encoder required for high
accuracy
Scalar None None Low No encoder Low accuracy
Frequency Simple Poor torque response
Control
Flux Vector Indirect Direct High High Accuracy Encoder always required
Control Good torque response
Direct Torque Direct Direct High No encoder Encoder required for high
Control Moderate speed speed accuracy
accuracy
Excellent torque
response
VINOD KUMAR VUDATHA , NIT ROURKELA
COMPARISON OF CONTROL VARIABLES
DRIVE CONTROL VARIABLES
Dc Drives Armature Current, Ia
Field Current, If
Ac Drives (PWM) Output Voltage. V
Output Frequency, f
Field oriented (Vector) controlled Rotor flux current id
Drive Torque current iq
Direct Torque Control Drive Motor Torque, T
Motor Magnetising Flux, ψ
Direct Torque Control (DTC) is the first drive technology to
control the “real” motor control variables, torque and flux.
VINOD KUMAR VUDATHA , NIT ROURKELA
Literature review
Author Proposed Technique Results
Takahashi Isao, Noguchi Limit cycle control of both Proposed control circuit has the
Toshihiko in 1986 torque and flux using disadvantage of making some drift in
optimum PWM output extremely low frequency operation
voltage. which can however be compensated
easily and automatically to minimise
the effect of variation of machine
constant.
Thomas G.Habetler, Direct torque control The change in torque and flux,over
Francesco Profumo, method of induction the switching period is calculated by
Michele Pastorelli and machine based on estimating the synchronous speed and
Leon M. Tolbert in 1992 predictive, deadbeat control the stator voltage is calculated which
of the torque and flux. is required to cause the torque and
flux to be equal to their respective
reference values.
M.vasudevan and New Direct Torque Control Field Oriented Control, Direct Torque
Dr. R.Arumugan in 2004 Scheme of Induction Motor Control (DTC), and DTC using Space
for Electric vehicle. Vector Modulation are investigated.
DTC using Space vector modulation
is found to be the best scheme for this
application.
VINOD KUMAR VUDATHA , NIT ROURKELA
Literature review
Author Proposed Technique Results
Sarat K Sahoo, Implementation and By using simple compensator based on
Tulsiram Das,Vedam Simulation of DTC scheme steady state operation, the magnitude
Subrahmanyam in 2008 with the use of FPGA and phase error associated with stator
scheme flux estimation based on voltage model is
compensated.
K.B.Mohanty in 2009 A Direct Torque Controlled A strategy of variable duty ratio control
Induction Motor with scheme technique minimizes torque and
Variable Hysteresis Band. current ripples, improves torque
response, and reduces switching losses in
spite of its simplicity.
S.L.Kaila and H.B.Jani in Direct torque control of The switching instants of different space
2011 induction motor using vectors are determined for each
space vector pulse width sampling period in order to minimize
modulation(SVPWM). the torque ripple in SVPWM technique.
VINOD KUMAR VUDATHA , NIT ROURKELA
OBJECTIVE
To ground this review, many prior art research papers have
been read to distilled into three main topic points.
First, understanding and modeling the uncontrolled
induction motor, and especially the mathematical representation
via MATLAB/ SIMULINK for the dynamic electromechanical
coupled equations.
Second, torque, flux and speed estimation by sensing
machine terminal voltages and currents i.e by voltage model.
Finally, the third, studying the Direct Torque Control
methodologies using SVPWM control.
VINOD KUMAR VUDATHA , NIT ROURKELA
Principle of DTC scheme
• The basic principle of DTC is to directly select stator voltage
vectors according to the torque and flux errors which are the
differences between the references of torque and stator flux
and their estimated values.
• The governing equation for torque for this scheme is due to
the interaction of stator and rotor fields. Torque and stator
flux linkage are computed from measured motor terminal
quantities i.e. stator voltages and current.
• An optimal voltage vector for the switching of VSI is selected
from the six nonzero voltage vectors and two zero voltage
vectors by the hysteresis control of stator flux and torque.
VINOD KUMAR VUDATHA , NIT ROURKELA
Block diagram of DTC control
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Direct flux control
State Sa Sb Sc Voltage Vector
0 0 0 0 V0
1 1 0 0 V1
2 1 1 0 V2
3 0 1 0 V3
4 0 1 1 V4
5 0 0 1 V5
6 1 0 1 V6
7 1 1 1 V7
CIRCULAR TRAJECTORY OF STATOR FLUX SELECTED APPLIED VOLTAGE VECTOR
The stator flux varies along the direction of applied voltage vector and the
equation is
ΔΨ̅s = V̅ s Δt
In general the active forward voltage vectors ( Vs,k+1 and Vs,k+2) are applied to
increase or decrease the stator flux respectively when the stator flux lies in
sector k.. The active reverse voltage vectors (Vs,k-1 and Vs,k-2) are used to
increase or decrease the stator flux in reverse direction.
VINOD KUMAR VUDATHA , NIT ROURKELA
Direct torque control
The incremental torque expression ΔTe is given as :
3 𝑃 𝐿𝑚
ΔTe = (𝐿𝑠′ 𝐿𝑟)IΨ̅ r I IΨ̅ s +Δ Ψ̅ sI sin Δγ
2 2 ΔTe α (sin Δγ)
VINOD KUMAR VUDATHA , NIT ROURKELA
SIMULTANEOUS AND DECOUPLED CONTROL OF
TORQUE AND FLUX
Say the flux vector is in sector k .
Application of active forward voltage vectors :
Vs,k+1 Ψs Te & Vs,k+2 Ψs Te
Application of active reverse voltage vectors :
Vs,k-1 Ψs Te & Vs,k-2 Ψs Te
VINOD KUMAR VUDATHA , NIT ROURKELA
Switching selection
• A high performance torque control can be established due to the decoupled
control of stator flux and torque in DTC.
• Optimum switching vector selection table given below shows the optimum
selection of the switching vectors in all sectors of the stator flux plane.
• This table is based on the value of stator flux error status, torque error status and
orientation of stator flux for clockwise and counter-clockwise rotation of the shaft.
• Hψ = 1 for Eψ > + HBψ ; Hψ = -1 for Eψ < - HBψ FLUX HYSTEREISIS CONTROLLER
• HTe= 1 for HTe > + HBTe ; HTe = -1 for ETe < - HBTe TORQUE HYSTERISIS CONTROLLER
Hψ HTe S(1) S(2) S(3) S(4) S(5) S(6)
1 1 V2 V3 V4 V5 V6 V1
0 V7 V0 V7 V0 V7 V0
-1 V6 V1 V2 V3 V4 V5
-1 1 V3 V4 V5 V6 V1 V2
0 V0 V7 V0 V7 V0 V7
-1 V5 V6 V1 V2 V3 V4
VINOD KUMAR VUDATHA , NIT ROURKELA
Why DTC is superior to vector control of
induction motor ??
Comparison Property Direct Torque Control Field oriented(Vector)
Control
Cordinates reference frame d,q (stator stationary ref d,q (rotor)
frame)
Controlled variables Torque and stator flux Rotor flux,torque current iq
and rotor flux current id
Parameter sensitivity Stator resistance d,q inductances,rotor
resistance
Rotor speed measurement Not required Required
Cordinate transformations Not required Required
Switching losses Lower Low
Typical control cycle time 10 to 30 micro seconds 100 to 500 micro seconds
Complexity/Processing Lower Higher
requirements
VINOD KUMAR VUDATHA , NIT ROURKELA
Simulation Results for Uncontrolled Induction Motor
Results for no-load condition (TL = 0 )
(a) Electromagnetic Torque
(b) Rotor Speed
VINOD KUMAR VUDATHA , NIT ROURKELA
(c) Stator Current
(d) d-axis flux
(e) q axis flux
VINOD KUMAR VUDATHA , NIT ROURKELA
Results for Load Torque ( TL = 2 Nm)
(a) Electromagnetic Torque
(b) Rotor Speed
(c) Trajectory of q-axis and d-axis flux in stator reference frame
VINOD KUMAR VUDATHA , NIT ROURKELA
THANK YOU
VINOD KUMAR VUDATHA , NIT ROURKELA
